Positioneraccelerationautoscaling - Newport XPS Programmer's Manual

XPS Unified
7.2.1.138

PositionerAccelerationAutoScaling

Name
PositionerAccelerationAutoScaling –Executes Auto-scaling process to determine the
stage scaling acceleration.
Input tests
- Refer to section 7.1: "Input Tests Common to all XPS Functions".
- Positioner must not be a "Secondary Positioner": (-8)
- Checks group type: (-8)
- Checks positioner name: (-18)
- Group status must be not initialized: (-22)
- Control loop type must be "PIDFFAcceleration": (-24)
Description
This function executes an auto-scaling process and returns the calculated scaling
acceleration. The selected group must be in "NOTINIT" state, otherwise error (-22) is
returned.
It only works, if the positioner control loop type is "PIDFFAcceleration" (acceleration
control), otherwise error (-24) is returned
This function checks the positioner error. If an error is detected, the hardware status
register is reset (motor on) and the positioner error is cleared before checking it again. If
a positioner error is present, the motor is turned off, error (-5) is returned and the group
status becomes "NOTINIT".
If there is no positioner error, then the master-slave error is cleared, the encoder is
preset (update encoder position) and the user travel limits are checked. If a travel limit
error is detected then the motor is turned off, error (-35) is returned and the group status
becomes "NOTINIT".
If no error is detected , the motor initializes. If motor initialization fails, the error (-50)
is returned and the group status becomes "NOTINIT".
If motor initialization is successful, the positions are preset, the motion is enabled (the
motor is powered) permitting the process to auto-scale if the motion cannot be enabled,
error (-22) is returned.
If the auto-scaling fails error (-105) is returned or if the motion becomes disabled, error
(-26) is returned.
The auto-scaling process is executed in 5 periods. At the end of each period, the auto-
scaling process estimates the auto- scaling quality by calculating the signal to noise
ratio. If it is very close to zero, it means there is no oscillation, so error (-101) is
returned. if the signal to noise ratio > MaximumNoiseRatio defined in system.ref
(normally between 0.1 and 0.2), error (-102) is returned.
If the number of acquired data points (minimum = 9) or the number of acquired signal
periods (minimum = 5) is not enough for a good estimate then error (-103) is returned.
At the end of this function, the new value of scaling acceleration is returned and the
group status becomes "NOTINIT" once again.
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Programmer's Manual
EDH0373En1023 — 01/18